Merge pull request #572 from Hyperloop-UPV/develop

Prepara v11.1.2

Author: JavierRibaldelRio

backend/cmd/config.toml

@@ -10,7 +10,7 @@
 
 # Vehicle Configuration
 [vehicle]
-boards = ["HVBMS","LCU", "PCU", "VCU", "BLCU"]
+boards = ["HVBMS","LCU", "PCU", "VCU"]
 
 # ADJ (Architecture Description JSON) Configuration
 [adj]
@@ -20,7 +20,6 @@ validate = true # Execute ADJ validator before starting backend
 # Transport Configuration
 [transport]
 propagate_fault = true
-
 # TCP Configuration
 # These settings control how the backend reconnects to boards when connections are lost
 [tcp]

backend/cmd/dev-config.toml

@@ -13,7 +13,6 @@
 # Vehicle Configuration
 [vehicle]
 boards = ["HVSCU", "HVSCU-Cabinet", "PCU", "LCU", "BCU", "BMSL"]
-
 # ADJ (Architecture Description JSON) Configuration
 [adj]
 branch = "software" # Leave blank when using ADJ as a submodule (like this: "")

backend/cmd/setup_transport.go

@@ -147,7 +147,15 @@ func configureUDPServerTransport(
 		if !ok {
 			board = "unknown"
 		}
-		transp.ReportError(fmt.Errorf("UDP keep-alive timeout: no packets received from board %s (%s) for %dms, fault sent", board, ip, config.UDP.KeepAliveTimeoutMs))
+		err := fmt.Errorf("UDP keep-alive timeout: no packets received from board %s (%s) for %dms, fault sent", board, ip, config.UDP.KeepAliveTimeoutMs)
+		transp.ReportError(err)
+
+		// Close the board's TCP connection ourselves: the fault we just
+		// broadcast leaves unacked data on a dead peer, which suppresses the
+		// TCP keep-alive and would delay disconnect detection by minutes.
+		if ok {
+			transp.DisconnectTarget(board, err)
+		}
 	}
 
 	udpServer := udp.NewServer(

backend/pkg/transport/network/tcp/conn.go

@@ -43,3 +43,17 @@ func (conn *connWithErr) Write(b []byte) (n int, err error) {
 func (conn *connWithErr) Close() error {
 	return conn.Conn.Close()
 }
+
+// CloseWithError closes conn, delivering reason to its error channel first so
+// the connection handler blocked on that channel wakes up. Closing a
+// connection directly would not do this, since Read/Write filter out
+// net.ErrClosed.
+func CloseWithError(conn net.Conn, reason error) error {
+	if cwe, ok := conn.(*connWithErr); ok {
+		select {
+		case cwe.errors <- reason:
+		default:
+		}
+	}
+	return conn.Close()
+}

backend/pkg/transport/network/udp/server.go

@@ -182,7 +182,10 @@ func (s *Server) keepAliveLoop() {
 					Dur("timeout", s.keepAliveTimeout).
 					Msg("keep-alive timeout: no UDP packets received")
 				if s.OnDisconnect != nil {
-					s.OnDisconnect(ip)
+					// Run the callback on its own goroutine so a slow
+					// handler (e.g. blocking TCP writes) cannot stall
+					// timeout detection for the remaining IPs
+					go s.OnDisconnect(ip)
 				}
 			}
 		}

backend/pkg/transport/transport.go

@@ -224,6 +224,11 @@ func (transport *Transport) readLoopTCPConn(conn net.Conn, logger zerolog.Logger
 		for {
 			packet, err := transport.decoder.DecodeNext(conn)
 			if err != nil {
+				// net.ErrClosed means we closed the connection on purpose
+				// (e.g. UDP keep-alive timeout), and a fault was already sent
+				if errors.Is(err, net.ErrClosed) {
+					return
+				}
 				logger.Error().Stack().Err(err).Msg("decode")
 				transport.errChan <- err
 				transport.SendFault()
@@ -268,6 +273,10 @@ func (transport *Transport) SendMessage(message abstraction.TransportMessage) er
 	return err
 }
 
+// faultWriteTimeout bounds each TCP write of the fault broadcast; boards on
+// the vehicle LAN ack in milliseconds, so exceeding this means a dead peer
+const faultWriteTimeout = time.Second
+
 // handlePacketEvent is used to send an order to one of the connected boards
 func (transport *Transport) handlePacketEvent(message PacketMessage) error {
 	eventLogger := transport.logger.With().Str("type", fmt.Sprintf("%T", message.Packet)).Uint16("id", uint16(message.Id())).Logger()
@@ -287,17 +296,30 @@ func (transport *Transport) handlePacketEvent(message PacketMessage) error {
 		defer transport.connectionsMx.RUnlock()
 		for target, conn := range transport.connections {
 			targetName := string(target)
+
+			// Bound each write so a dead peer with a full send buffer cannot
+			// hold the connections lock (and the caller) for minutes
+			conn.SetWriteDeadline(time.Now().Add(faultWriteTimeout))
+			var writeErr error
 			totalWritten := 0
 			for totalWritten < len(data) {
 				n, err := conn.Write(data[totalWritten:])
 				eventLogger.Trace().Str("target", targetName).Int("amount", n).Msg("written chunk")
 				totalWritten += n
 				if err != nil {
-					eventLogger.Error().Str("target", targetName).Stack().Err(err).Msg("write")
-					transport.errChan <- err
-					return err
+					writeErr = err
+					break
 				}
 			}
+			conn.SetWriteDeadline(time.Time{})
+
+			// Keep broadcasting to the remaining boards even if one write
+			// fails: the fault must reach every live board
+			if writeErr != nil {
+				eventLogger.Error().Str("target", targetName).Stack().Err(writeErr).Msg("write")
+				transport.errChan <- writeErr
+				continue
+			}
 			eventLogger.Info().Str("target", targetName).Msg("sent")
 		}
 		return nil
@@ -475,6 +497,22 @@ func (transport *Transport) TargetFromIp(ip string) (abstraction.TransportTarget
 	return target, ok
 }
 
+// DisconnectTarget forcefully closes the TCP connection to target, if any.
+// The connection handler wakes up with reason, cleans up and notifies the
+// disconnection, and the client reconnection loop takes over.
+func (transport *Transport) DisconnectTarget(target abstraction.TransportTarget, reason error) bool {
+	transport.connectionsMx.RLock()
+	conn, ok := transport.connections[target]
+	transport.connectionsMx.RUnlock()
+	if !ok {
+		return false
+	}
+
+	transport.logger.Warn().Str("target", string(target)).Err(reason).Msg("forcefully disconnecting target")
+	tcp.CloseWithError(conn, reason)
+	return true
+}
+
 func (transport *Transport) SendFault() {
 	err := transport.SendMessage(NewPacketMessage(data.NewPacket(0)))
 	if err != nil {

electron-app/preload.js

@@ -48,6 +48,8 @@ contextBridge.exposeInMainWorld("electronAPI", {
   restartBackend: () => ipcRenderer.invoke("restart-backend"),
   // Get the list of views available in this build
   getAvailableViews: () => ipcRenderer.invoke("get-available-views"),
+  // Run the kernel setup script (used by mode selector renderer)
+  setupKernel: () => ipcRenderer.invoke("setup-kernel"),
   // Set initial mode (used by mode selector renderer)
   setInitialMode: (mode) => {
     ipcRenderer.send("mode-selected", mode);

electron-app/renderer/mode-selector/index.html

@@ -178,6 +178,38 @@
       box-shadow: inset 0 0 0 1px rgba(237, 238, 240, 0.04);
     }
 
+    .kernel-setup {
+      margin-top: 16px;
+      display: grid;
+      gap: 8px;
+      justify-items: center;
+    }
+
+    .kernel-setup button {
+      min-height: 44px;
+      padding: 10px 24px;
+    }
+
+    .kernel-setup button:disabled {
+      opacity: 0.5;
+      cursor: wait;
+      transform: none;
+    }
+
+    .kernel-status {
+      font-size: 0.85rem;
+      min-height: 1.2em;
+      opacity: 0.85;
+    }
+
+    .kernel-status.ok {
+      color: #7ee787;
+    }
+
+    .kernel-status.error {
+      color: #ff8080;
+    }
+
     @media (max-width: 420px) {
       .card {
         padding: 20px;
@@ -209,6 +241,10 @@
       <h1>Control Station</h1>
     </div>
     <div class="button-grid" id="button-grid"></div>
+    <div class="kernel-setup">
+      <button id="setup-kernel" class="secondary">Set up kernel</button>
+      <div id="kernel-status" class="kernel-status"></div>
+    </div>
     <div class="aux-logo-wrap">
       <img src="src/sign.png" alt="Logo auxiliar" class="logo-aux" />
       <div class="app-footer">
@@ -258,6 +294,29 @@ <h1>Control Station</h1>
 
     renderButtons();
 
+    const kernelButton = document.getElementById('setup-kernel');
+    const kernelStatus = document.getElementById('kernel-status');
+    kernelButton.addEventListener('click', async () => {
+      if (!window.electronAPI?.setupKernel) {
+        kernelStatus.textContent = 'Not available';
+        kernelStatus.className = 'kernel-status error';
+        return;
+      }
+      kernelButton.disabled = true;
+      kernelStatus.textContent = 'Setting up kernel…';
+      kernelStatus.className = 'kernel-status';
+      try {
+        const result = await window.electronAPI.setupKernel();
+        kernelStatus.textContent = result.message;
+        kernelStatus.className = `kernel-status ${result.success ? 'ok' : 'error'}`;
+      } catch (e) {
+        kernelStatus.textContent = 'Kernel setup failed';
+        kernelStatus.className = 'kernel-status error';
+      } finally {
+        kernelButton.disabled = false;
+      }
+    });
+
     const appVersionNode = document.getElementById('app-version');
     if (appVersionNode && window.electronAPI?.getAppVersion) {
       window.electronAPI.getAppVersion().then((version) => {

electron-app/src/ipc/handlers.js

@@ -8,9 +8,11 @@
  */
 
 import { app, dialog, ipcMain, shell } from "electron";
+import { execFile } from "child_process";
 import { readFile } from "fs/promises";
 import fs from "fs";
 import { isAbsolute, join } from "path";
+import { promisify } from "util";
 import {
   importConfig,
   readConfig,
@@ -62,6 +64,39 @@ function setupIpcHandlers() {
 
   ipcMain.handle("get-app-version", () => app.getVersion());
 
+  /**
+   * @event setup-kernel
+   * @async
+   * @description Configures kernel parameters needed by the backend
+   * (disables the TCP invalid-packet rate limit). Linux only; on other
+   * platforms it shows a warning dialog.
+   * @returns {Promise<{success: boolean, message: string}>}
+   */
+  ipcMain.handle("setup-kernel", async () => {
+    if (process.platform !== "linux") {
+      const message = "Kernel setup is only available on Linux";
+      dialog.showMessageBox({
+        type: "warning",
+        title: "Not available",
+        message,
+      });
+      return { success: false, message };
+    }
+
+    try {
+      const { stdout } = await promisify(execFile)("pkexec", [
+        "sysctl",
+        "-w",
+        "net.ipv4.tcp_invalid_ratelimit=0",
+      ]);
+      logger.electron.info(`Kernel setup completed: ${stdout.trim()}`);
+      return { success: true, message: "Kernel set up successfully" };
+    } catch (error) {
+      logger.electron.error("Kernel setup failed:", error);
+      return { success: false, message: error.stderr?.trim() || error.message };
+    }
+  });
+
   ipcMain.handle("get-available-views", () => {
     const ALL_VIEWS = [
       { mode: "testing", label: "Testing View" },